CN108609410A - A kind of wiper arm formula automatic loading robot - Google Patents
A kind of wiper arm formula automatic loading robot Download PDFInfo
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- CN108609410A CN108609410A CN201810484602.7A CN201810484602A CN108609410A CN 108609410 A CN108609410 A CN 108609410A CN 201810484602 A CN201810484602 A CN 201810484602A CN 108609410 A CN108609410 A CN 108609410A
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- conveying mechanism
- retainer
- platform
- driving motor
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- 230000007246 mechanism Effects 0.000 claims abstract description 220
- 239000000463 material Substances 0.000 claims abstract description 154
- 230000033001 locomotion Effects 0.000 claims abstract description 38
- 230000003028 elevating effect Effects 0.000 claims abstract description 22
- 230000008859 change Effects 0.000 claims description 56
- 238000007599 discharging Methods 0.000 claims description 48
- 230000005540 biological transmission Effects 0.000 claims description 47
- 239000000428 dust Substances 0.000 claims description 27
- 238000009434 installation Methods 0.000 claims description 25
- 238000005453 pelletization Methods 0.000 claims description 11
- 238000012856 packing Methods 0.000 abstract description 5
- 238000000034 method Methods 0.000 abstract description 4
- 230000008569 process Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 8
- 230000006872 improvement Effects 0.000 description 8
- 230000032258 transport Effects 0.000 description 6
- 238000013461 design Methods 0.000 description 5
- 230000003287 optical effect Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 230000007423 decrease Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000008450 motivation Effects 0.000 description 2
- 239000011343 solid material Substances 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 239000000383 hazardous chemical Substances 0.000 description 1
- 231100000206 health hazard Toxicity 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000005622 photoelectricity Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
- B65G69/18—Preventing escape of dust
- B65G69/181—Preventing escape of dust by means of sealed systems
- B65G69/182—Preventing escape of dust by means of sealed systems with aspiration means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G41/00—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames
- B65G41/001—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames with the conveyor adjustably mounted on the supporting frame or base
- B65G41/003—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames with the conveyor adjustably mounted on the supporting frame or base mounted for linear movement only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G41/00—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames
- B65G41/02—Frames mounted on wheels for movement on rail tracks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/26—Devices influencing the relative position or the attitude of articles during transit by conveyors arranging the articles, e.g. varying spacing between individual articles
- B65G47/30—Devices influencing the relative position or the attitude of articles during transit by conveyors arranging the articles, e.g. varying spacing between individual articles during transit by a series of conveyors
- B65G47/31—Devices influencing the relative position or the attitude of articles during transit by conveyors arranging the articles, e.g. varying spacing between individual articles during transit by a series of conveyors by varying the relative speeds of the conveyors forming the series
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/82—Rotary or reciprocating members for direct action on articles or materials, e.g. pushers, rakes, shovels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/04—Loading land vehicles
- B65G67/08—Loading land vehicles using endless conveyors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0238—Bags
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
- B65G2203/044—Optical
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Specific Conveyance Elements (AREA)
- Stacking Of Articles And Auxiliary Devices (AREA)
Abstract
The present invention discloses a kind of wiper arm formula automatic loading robot, including two guide rails, entrucking machine head assembly, conveying mechanism and elevating mechanism；The entrucking machine head assembly includes the material toggling structure being separately connected with conveying mechanism and guide post, mounted on movement hopper mechanism of the material toggling structure far from guide post side；The guide post includes for connecting more litter of entrucking machine head assembly, the connecting plate being arranged between litter；The guide sleeve is provided with the pulley blocks being used cooperatively with litter close to the side of litter.It effectively realizes that the distance between babinet of entrucking machine head assembly and truck-loading facilities reduces adjustment, the effective automatic loading realized to bagged material packet by elevating mechanism, while effectively reducing entrucking process pollution on the environment；The effective damage avoided to packing material packet, mechanically actuated improve working efficiency；Can effective bagged material package location is incorrect rectifies a deviation so that consistent into the bagged material package location in charging apparatus.
Description
Technical field
The present invention relates to technical fields, are a kind of wiper arm formula automatic loading robots specifically.
Background technology
The circulation of solid material at present is divided into two kinds of forms：It is in bulk and packed.This form in bulk is applied in developed country
Than wide, it is mainly used in the relatively good solid material of circulation, can save the manpower of a large amount of packing charges and handling
Expense, it is time saving, laborsaving, economical.The disadvantage is that limitation is stronger, it is necessary to be suitable for the stronger material of circulation.It is to land route simultaneously
That transports is also more demanding, it is necessary to be van or Container Transport, it is necessary to have the equipment of handling bulk goods.
Packed this mode is more flexible, and handling transport is more convenient.The disadvantage is that consume a large amount of packing charges and dress
The manpower expense unloaded.Foreign countries are since labour cost is more expensive, so the bag cargo overwhelming majority uses pallet carried and transported, object
Then the stacking on pallet of material palletizing mechanical is loaded and unloaded with handling facilities such as fork trucks.Tray loading transport disadvantage be
When product is sold, it is included in product cost together together with pallet, product cost is made to increase.It is only higher or thick, stupid in human cost
For the in great shortage developed country of flexibe work(labour) power using more, the application of China's tray loading transport is less.
With the fast development and the improvement of people's living standards of China's economy, also gradually there is labor in China in recent years
The phenomenon of power shortage, especially slightly, stupid flexibe work(labour) power be even more shortage.Originally that depend merely on the case where manual loading will gradually by
Loading mechanization is replaced, China's handling operation till now, using it is most be product stacking on pallet, when product is sold
Product is laid down from pallet again, entrucking.Although this mode still consumes a large amount of manpower, traditional complete artificial dress is compared
Vehicle, time saving, laborsaving many, the case where also being sold together together with pallet than developed country, saves many expenses.So in China
Current conditional enterprise is in this way gradually：Product stacking on pallet, fork truck are stacked in warehouse, product
Entrucking is laid down from pallet.
In bag cargo entrucking field, what most domestic was taken is the mode by conveyer：Manually production
Product are unloaded from pallet or lorry, are put into conveyer and are transported to above compartment, and worker is again in the other end of conveyer, conveying
The product that machine conveying comes is put in compartment.
Country's conveyer has at present：Mobile conveyer, accordion conveyor, van conveyer etc..But whether
Any conveyer is only convenient artificial mobile, cannot all complete automatic loading, be required for another termination manually in conveyer
Expect, put.There is a kind of carloader that cost is high in cement industry, but it is actually also a kind of conveying of packaged type
Conveyer has only been hung in the upper surface of vehicle by machine, facilitates conveyer to be moved forward and backward up and down, than general conveyer in terms of entrucking
Further, it however also needs manually to operate, put, the automation of entrucking cannot be completed, while manually being set by conveying
Standby entrucking, when putting due to cannot mutually superimposed show so be easy to causeing between bag cargo packet and packet accurately in place
As causing certain difficulty to unloading.
Invention content
The purpose of the present invention is to provide a kind of wiper arm formula automatic loading robots, and can put material structure can automate reality
Existing material toggling effectively avoids the damage to packing material packet, mechanically actuated from improving working efficiency.
The present invention is achieved through the following technical solutions：
A kind of wiper arm formula automatic loading robot, including two guide rails disposed in parallel, entrucking machine head assembly, one end are slidably installed
On two guide rails and along the conveying mechanism of two guide rail length directions sliding and for being promoted or being declined to entrucking machine head assembly
Elevating mechanism and connect with elevating mechanism and be slidably mounted on the closed dust pelletizing system on guide rail；The conveying mechanism）It is another
Outer one end is connect with installation mechanism assembly；
The entrucking machine head assembly include the material toggling structure being separately connected with conveying mechanism and guide post, be mounted on material toggling structure it is separate
The movement hopper mechanism of guide post side：The material toggling structure includes being provided with installation cavity and being connect far from guide sleeve one end with guide post
Main frame is symmetrically mounted on the first retainer platform in installation cavity and is mounted on main frame along the center line of conveying mechanism transporting direction
Above and along symmetrically arranged two material placing mechanisms of the center line of conveying mechanism transporting direction；
The conveying mechanism close to the side of material placing mechanism and the first retainer platform close to the side of material placing mechanism in the same plane；
The movement hopper mechanism includes being arranged that discharging platform in the first retainer platform far from material placing mechanism side, to be mounted on main frame separate
Pendulum material structure side and for control discharging platform receive bagged material packet guiding movement mechanism, the side of the discharging platform with lead
It is slidably connected to motion far from conveying mechanism side.
Further, in order to preferably realize the present invention, the material toggling structure includes being provided with installation cavity and remote with guide post
Main frame from the connection of guide sleeve one end is symmetrically mounted on the first retainer platform in installation cavity along the center line of conveying mechanism transporting direction
And on main frame and along symmetrically arranged two material placing mechanisms of the center line of conveying mechanism transporting direction；
Further, in order to preferably realize the present invention, the conveying mechanism is close to the side of material placing mechanism and the first retainer platform
In the same plane close to the side of material placing mechanism；The movement hopper mechanism includes being arranged in the first retainer platform far from material place machine
The discharging platform of structure side far from pendulum material structure side and receives leading for bagged material packet mounted on main frame for controlling discharging platform
To motion, the side of the discharging platform is slidably connected with guiding movement mechanism far from conveying mechanism side.
Further, in order to preferably realize the present invention, the material placing mechanism further includes being arranged between the first retainer platform
And the second retainer platform in installation cavity；The first retainer platform and the second retainer platform are close to the side of material placing mechanism same
In one plane；The second retainer platform is along the center line of conveying mechanism transporting direction and the center line of conveying mechanism transporting direction same
On one straight line.
Further, in order to preferably realize the present invention, the first retainer platform include symmetrically arranged two pieces of retainer plates,
For driving retainer plate to the driving mechanism moved close to discharging platform side；
Further, in order to preferably realize the present invention, the driving mechanism includes the cylinder, defeated with cylinder of external baric systerm
Two shafts for going out the drive rod of axis connection and being connect respectively with drive rod both ends, the retainer plate are fixedly mounted on shaft
On side；It is provided with the connecting rod that one end is fixedly connected with shaft between the drive rod and shaft, tells somebody what one's real intentions are with connecting rod other end
Hinge bar, the free end of the hinge bar one end and drive rod far from connecting rod is hinged；The cylinder setting is remote in retainer plate
Side from the second retainer platform；
Further, in order to preferably realize the present invention, the first retainer platform, the second retainer platform, discharging platform structure are identical,
The driving mechanism of the second retainer platform is arranged far from side of the retainer plate far from the first conveying mechanism；The drive of the discharging platform
Motivation structure is positioned close to the/side far from guiding movement mechanism.
Further, in order to preferably realize the present invention, the material placing mechanism includes the driving electricity being mounted on main frame
The output axis connection of machine and driving motor and the swing arm to move reciprocatingly along the circumferential direction of output shaft；The swing arm is arranged first
The top of retainer platform.
Further, in order to preferably realize the present invention, the support plate of fixed driving motor is provided on the main frame,
The output shaft of the driving motor passes through support plate to be rotatablely connected with swing arm.
Further, in order to preferably realize the present invention, the swing arm includes that the output shaft of one end and driving motor rotates
The V-type holder of connection is arranged in restriction plate of the V-type holder far from conveying mechanism side；V-type holder side close to each other
It is provided with buffer stopper；The small end of the V-type holder and the output shaft of driving motor are rotatablely connected；The V-type holder include with
The connecting rod of the output shaft rotation connection of driving motor, the V-type branch being connect with output shaft side of the connecting rod far from driving motor
Frame ontology.
Further, in order to preferably realize the present invention, the output shaft of the driving motor is apart from the separate driving of V-type holder
The size of output shaft one end of motor is less than the output shaft distance of driving motor and the first retainer platform of V-type holder homonymy far from drive
The size of the output shaft side of dynamic motor, and the first retainer platform of the output shaft distance and V-type holder homonymy more than driving motor
Size close to the output shaft side of driving motor.
Further, it in order to preferably realize the present invention, is transported between the main frame and installation cavity and along conveying mechanism
Defeated direction center line is symmetrically arranged with guide plate, and the guide plate is to the arc panel close to V-type holder side indent, the arc
The radius of curvature of plate is less than radius of curvature of the V-type holder compared with big end；
Further, in order to preferably realize the present invention, the main frame is additionally provided with the output shaft along driving motor and axially sets
The guide pad set, the V-type holder are provided with and are slidably mounted on the guided way on guide pad close to the side of driving motor.
Further, in order to preferably realize the present invention, the conveying mechanism includes conveying mechanism input terminal to output end
It sets gradually and by the separately-driven input transmission end of two groups of motors, speed change transmission end, the input transmission end includes input
Conveyer frames and conveying hinge, the speed change transmission end include speed change conveyer frames, speed change conveying hinge, it is described input conveyer frames it is defeated
Outlet and the input terminal of speed change conveyer frames are hinged；The photoelectric sensor that the medial surface of the input conveyer frames is provided with, the electricity
Machine and photoelectric sensor are connect with control system circuit, and it is variable speed electric motors, particularly to drive the motor of the speed change transmission end；It is described defeated
The input terminal for entering transmission end is erected on two guide rails and can be moved along guide rail；The output end and carloader of the output transmission end
Head assembly is fixedly connected, and the elevating mechanism is arranged on two guide rails and can be moved along guide rail.
Further, in order to preferably realize that the present invention, the guide post include more for connecting entrucking machine head assembly
Litter, the connecting plate being arranged between litter；The guide sleeve is provided with the pulley being used cooperatively with litter close to the side of litter
Group.
Compared with prior art, the present invention haing the following advantages and advantageous effect：
（1）The present invention effectively realizes that the distance between babinet of entrucking machine head assembly and truck-loading facilities reduces by elevating mechanism
Adjustment, the effective automatic loading realized to bagged material packet, while effective reduction entrucking process is dirty caused by environment
Dye；
（2）The present invention can automate realization material toggling by the pendulum material structure of setting, effectively avoid the damage to packing material packet
Bad, mechanically actuated improves working efficiency；
（3）The present invention can effective bagged material package location be incorrect rectifies a deviation, so that into charging apparatus
Bagged material package location it is consistent, the effective utilization rate for improving stocking space；
（4）The present invention is effectively defined the movement locus of V-type holder by arc panel；
（5）The conveying mechanism that the present invention is arranged, according to the adjacent bagged articles that detect of photoelectric sensor in input delivery section
Spacing realizes that the entrucking machine head assembly that enters of bagged articles at the uniform velocity carries out bagged articles by adjusting the transmission speed of speed change delivery section
Loading stacking；
（6）It is equipped with closed dust pelletizing system set by the present invention, for loading the dedusting in workshop, improves the building ring loaded in workshop
Border reduces and loads the environment in workshop to loading the health hazards for working or passing in and out the worker in loading workshop in workshop；
（7）The closed dust pelletizing system that the present invention is arranged and promotion host apparatus synchronizing moving, i.e., it is synchronous with entrucking machine head assembly
It is mobile, so that the dust hood of closed dust pelletizing system is correspondingly arranged at the top of " loaded " position, for the serious loading position of dust pollution
It sets and is dusted, keep its dust removing effects more preferable；
（8）It is the configuration of the present invention is simple, highly practical.
Description of the drawings
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the structural schematic diagram in Fig. 1 at C in the present invention；
Fig. 3 is the connection relationship diagram between elevating mechanism and loading mechanism assembly in the present invention；
Fig. 4 is the structural schematic diagram of entrucking machine head assembly in the present invention
Fig. 5 is material placing mechanism, the connection relationship diagram of the first retainer platform, the second retainer platform and discharging platform in the present invention；
Fig. 6 is the structural schematic diagram at A in Fig. 5 of the present invention；
Fig. 7 is the structural schematic diagram at B in Fig. 3 of the present invention；
The structural schematic diagram of closed dust pelletizing system in the present invention of the positions Fig. 8；
Wherein 10- main frames, 101- guided ways, 102- guide plates 102,2- entrucking machine head assembly, 21- material placing mechanisms, 211- limits
Making sheet, 212- buffer stoppers, 213- driving motors, 214- guide pads, 22- the first retainer platforms, 23- discharging platforms, the second retainers of 24-
Platform, 251- drive rods, 252- hinge bars, 253- connecting rods, 254- shafts, 255- cylinders, 256- retainer plates, 3- conveying mechanisms,
4- elevating mechanisms, 41- hoisting apparatus, 42- guide sleeves, 421- pulley blocks, 43- guide posts, 431- litter；5-closed dust pelletizing systems,
31-input transmission ends, 311-input conveyer frames, 312-conveying hinges, 32-speed change transmission ends, 321-speed change ends, 322-
Output end, 323-speed change conveyer frames, 324-speed changes convey hinge, 33-photoelectric sensors, 51-dust hoods, 52-pectinids
Machine, 53-dedusters, 54-return aircourses, 55-dust sucting pipelines, 56-erecting beds.
Specific implementation mode
The present invention is described in further detail with reference to embodiment, embodiments of the present invention are not limited thereto.
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and is not considered as limiting the invention.
In the description of the present invention, it is to be understood that, term "center", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise " is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of
The description present invention and simplified description, do not indicate or imply the indicated device or element must have a particular orientation, with spy
Fixed azimuth configuration and operation, therefore be not considered as limiting the invention.
The photoelectric sensor referred in the present invention is to be using sensor of the photoelectric cell as detecting element.Its work is former
Reason is：Measured variation is converted into the variation of optical signal, then further converts optical signals into electricity by photoelectric cell
Signal.The photoelectric sensor is made of transmitter, receiver, detection circuit, and transmitters and receivers, which correspond to, is mounted on input
Conveyer frames two sides, the transmitter is for sending out optical signal, and the receiver is for receiving optical signal.The photoelectric sensor is
The common photoelectric sensor for detection in the market, such as EZ-BEAM T photoelectric sensors.
Embodiment 1：
The present invention is achieved through the following technical solutions, as Figure 1-Figure 8, a kind of wiper arm formula automatic loading robot, feature
It is：It is slidably mounted on two guide rails including two guide rails 1 disposed in parallel, entrucking machine head assembly 2, one end and is led along two
1 length direction of rail sliding conveying mechanism 3 and for entrucking machine head assembly 2 promoted or decline elevating mechanism 4 and with lifting
Mechanism 4 connects and is slidably mounted on the closed dust pelletizing system 5 on guide rail 1；The other end of the conveying mechanism 3 and installation mechanism
Assembly 2 connects；
The entrucking machine head assembly 2 includes the material toggling structure being separately connected with conveying mechanism 3 and guide post 43, is mounted on material toggling structure
Movement hopper mechanism far from 43 side of guide post：The material toggling structure includes being provided with installation cavity and with guide post far from guide sleeve one end
The main frame 10 of connection, along 3 transporting direction of conveying mechanism center line be symmetrically mounted on the first retainer platform 22 in installation cavity and
On main frame 10 and along symmetrically arranged two material placing mechanisms 21 of the center line of 3 transporting direction of conveying mechanism；
The conveying mechanism 3 close to the side of material placing mechanism 21 with the first retainer platform 22 close to the side of material placing mechanism 21 same
In plane；The movement hopper mechanism includes that discharging platform 23 in the first retainer platform 22 far from 21 side of material placing mechanism, peace is arranged
The guiding movement mechanism of bagged material packet, institute are received mounted in main frame 10 far from pendulum material structure side and for controlling discharging platform 23
The side for stating discharging platform 23 is slidably connected with guiding movement mechanism far from 3 side of conveying mechanism.
A kind of wiper arm formula automatic loading robot, connect, including be used for the conveying mechanism 3 for conveying bagged material packet
Entrucking machine head assembly to the transhipment of bagged material packet, the elevating mechanism 4 for entrucking machine head assembly to be promoted or declined, institute
Elevating mechanism 4 is stated to include the guide post 43 connecting with entrucking machine head assembly, be slidably socketed the guide sleeve 42 and peace in 43 outside of guide post
Mounted in guide sleeve 42 far from entrucking machine head assembly side and the hoisting apparatus 41 that is connect with guide post 43；
The entrucking machine head assembly includes the material toggling structure being separately connected with conveying mechanism 3 and guide post 43, is mounted on material toggling structure
Movement hopper mechanism far from 43 side of guide post；
The guide post 43 includes for connecting more litter 431 of entrucking machine head assembly, the connection being arranged between litter 431
Plate；The guide sleeve 42 is provided with the pulley blocks 421 being used cooperatively with litter 431 close to the side of litter 431.
It should be noted that by above-mentioned improvement, in using work, bagged material packet is placed on by other devices defeated
It send in mechanism, bagged material packet is delivered to entrucking machine head assembly by control conveying mechanism, by conveying mechanism 3 by bagged material packet
It is transported to the end of conveying mechanism 3, in transmission process, two material placing mechanisms 21 of control are close to each other and leaned on conveying mechanism 3
Do not interfere one end of nearly material placing mechanism 21；When bagged material packet is transported to conveying mechanism 3 close to 21 side of material placing mechanism, control
Two material placing mechanisms 21 are shifted onto with circumferentially rotating and close to bagged material packet, and by material packet on the one the first retainer platforms 22,
Finish entire material toggling action；When pushing on the first retainer platform 22 to bagged material packet, the guiding in 10 bottom of main frame is set
Motion will start work, and controls discharging platform 23 and moved to the side close to the first retainer platform 22, when discharging platform 23 reaches
When the bottom of the first retainer platform 22, the first retainer platform 22 opening falls to bagged material packet on discharging platform 23；It completes to turn material work
Make；The position side that control guiding movement mechanism drives discharging platform 23 to be specified to charging apparatus moves, when moving to specified point,
Discharging platform 23 opens the designated position that bagged material packet is fallen into charging apparatus, completes the charging process of a bagged material packet.
When a upper bagged material packet is when falling on the first retainer platform 22, second bagged material packet will be in the drive of material placing mechanism 21
Under pushed from conveying mechanism 3 on another first retainer platform 22, again repeat turn material a job.
During use, according to the stacked location of bagged material packet, control elevating mechanism is on guide rail and rectangular along guide rail
To sliding, realize and bagged material packet be placed on designated position.
Designed two in the design symmetrically arranged two material placing mechanisms along 3 transporting direction center line of conveying mechanism
21 are replaced using a material placing mechanism 21 being arranged on 3 center line of conveying mechanism.
The other parts of the present embodiment are same as the previously described embodiments, and so it will not be repeated.
Embodiment 2：
The present embodiment advanced optimizes on the basis of the above embodiments, and as Figure 1-Figure 8, the material toggling structure includes setting
Be equipped with installation cavity and connect far from 42 one end of guide sleeve with guide post 43 main frame 10, along the center line pair of 3 transporting direction of conveying mechanism
Claim the first retainer platform 22 being mounted in installation cavity and on main frame 10 and along the center line of 3 transporting direction of conveying mechanism
Symmetrically arranged two material placing mechanisms 21；
The conveying mechanism 3 close to the side of material placing mechanism 21 with the first retainer platform 22 close to the side of material placing mechanism 21 same
In plane；The movement hopper mechanism includes that discharging platform 23 in the first retainer platform 22 far from 21 side of material placing mechanism, peace is arranged
The guiding movement mechanism of bagged material packet, institute are received mounted in main frame 10 far from pendulum material structure side and for controlling discharging platform 23
The side for stating discharging platform 23 is slidably connected with guiding movement mechanism far from 3 side of conveying mechanism.
It should be noted that by above-mentioned improvement, bagged material packet is transported to conveyer by the design by conveying mechanism 3
The end of structure 3, in transmission process, control two material placing mechanisms 21 it is close to each other and with conveying mechanism 3 close to material placing mechanism 21
One end do not interfere；When bagged material packet is transported to conveying mechanism 3 close to 21 side of material placing mechanism, two material placing mechanisms are controlled
21 with circumferentially rotating and close to bagged material packet, and material packet is shifted onto on the one the first retainer platforms 22, finishes entire material toggling
Action；When pushing on the first retainer platform 22 to bagged material packet, the guiding movement mechanism in 10 bottom of main frame, which will be arranged, to be opened
It starts building to make, and controls discharging platform 23 and moved to the side close to the first retainer platform 22, when discharging platform 23 reaches the first retainer platform 22
Bottom when, the first retainer platform 22 opening bagged material packet is fallen on discharging platform 23；It completes to turn material work；Control is oriented to fortune
The position side that motivation structure drives discharging platform 23 to be specified to charging apparatus moves, and when moving to specified point, discharging platform 23 is opened
Bagged material packet is fallen into the designated position of charging apparatus, completes the charging process of a bagged material packet.When upper one it is packed
Material packet when falling on the first retainer platform 22, second bagged material packet by under the drive of material placing mechanism 21 from conveying mechanism
3 are pushed on another first retainer platform 22, repeat to turn material work again.
Designed two in the design symmetrically arranged two material placing mechanisms along 3 transporting direction center line of conveying mechanism
21 are replaced using a material placing mechanism 21 being arranged on 3 center line of conveying mechanism.
The other parts of the present embodiment are same as the previously described embodiments, and so it will not be repeated.
Embodiment 2：
The present embodiment advanced optimizes on the basis of the above embodiments, as Figure 1-Figure 8, described to state material placing mechanism 21 also
Including the second retainer platform 24 being arranged between the first retainer platform 22 and in installation cavity；The first retainer platform 22 and
Two retainer platforms 24 close to the side of material placing mechanism 21 in the same plane；The second retainer platform 24 is transported along conveying mechanism 3
The center line in direction and the center line of 3 transporting direction of conveying mechanism are on the same line.
It should be noted that by above-mentioned improvement, the second retainer platform 24 be used for in bagged material packet transmission process by
In various reasons, so that, the direction of bagged material packet changes, and the bagged material packet direction with correct placement is on the contrary, when occurring
When such situation, bagged material packet will be directly delivered to second be arranged between two the first retainer platforms 22 by conveying mechanism 3
Retainer platform 24, by the second retainer platform 24 along the center line of 3 transporting direction of conveying mechanism be set as in 3 transporting direction of conveying mechanism
Line point-blank, effectively ensures when bagged material packet is delivered to the second retainer platform 24 from conveying mechanism 3, effectively
Ensure that the position of bagged material packet does not change；When bagged material packet is delivered on the second retainer platform 24, discharging platform 23 will
It is moved to 24 bottom of the second retainer platform under the driving of guiding movement mechanism, when reaching position, the second retainer platform 24 will be packed
Material packet is fallen on discharging platform 23；Bagged material packet will be delivered to dress by discharging platform 23 under the driving of guiding movement mechanism again
It is placed the designated position of material equipment.
The other parts of the present embodiment are same as the previously described embodiments, and so it will not be repeated.
Embodiment 3：
The present embodiment advanced optimizes on the basis of the above embodiments, and as Figure 1-Figure 8, the first retainer platform 22 wraps
Include symmetrically arranged two pieces of retainer plates 256 and for driving retainer plate 256 to the driving machine moved close to 23 side of discharging platform
Structure；The driving mechanism includes the cylinder 255 of external baric systerm, the drive rod 251 of axis connection is exported with cylinder 255 and is divided
Two shafts 254 not connect with 251 both ends of drive rod, the retainer plate 256 are fixedly mounted on the side of shaft 254；Institute
It states and is provided with the connecting rod 253 that one end is fixedly connected with shaft 254 between drive rod 251 and shaft 254, with connecting rod 253 other one
Hold the hinge bar 252 told somebody what one's real intentions are, the one end of the hinge bar 252 far from connecting rod 253 and the free end of drive rod 251 hinged；It is described
Cylinder 255 is arranged in side of the retainer plate 256 far from the second retainer platform 24.
Second retainer platform 24, the second retainer platform 24,23 structure of discharging platform are identical, the driving mechanism of the second retainer platform 24
It is arranged far from side of the retainer plate 256 far from the first conveying mechanism 3；The driving mechanism of the discharging platform 23 is positioned close to/
Side far from guiding movement mechanism.
It should be noted that by above-mentioned improvement, needing to drop into the bagged material packet on two pieces of retainer plates 256 to unload
When expecting on platform 23, the work of cylinder 255 for controlling external baric systerm drives drive rod 251 to be moved to close to 23 side of discharging platform,
Hinged hinge bar 252 will move downward with 251 both ends of drive rod, to drive one end and be rotatably connected, other end
Hinged connecting rod moves downward with hinge bar 252 so that shaft 254 rotates, and to drive retainer plate 256 to move downward, makes
Bagged material packet is obtained to slide to discharging platform 23.
The other parts of the present embodiment are same as the previously described embodiments, and so it will not be repeated.
Embodiment 4：
The present embodiment advanced optimizes on the basis of the above embodiments, and as Figure 1-Figure 8, the material placing mechanism 21 includes
Driving motor 213 on main frame 10, with the output axis connection of driving motor 213 and done back and forth along the circumferential direction of output shaft
The swing arm of movement；The swing arm is arranged in the top of the first retainer platform 22.
Further, in order to preferably realize the present invention, the branch of fixed driving motor 213 is provided on the main frame 10
The output shaft of fagging, the driving motor 213 passes through support plate to be rotatablely connected with swing arm.
Further, in order to preferably realize that the present invention, the swing arm include the output shaft rotation of one end and driving motor 213
The V-type holder of dynamic connection is arranged in restriction plate 211 of the V-type holder far from 3 side of conveying mechanism；The V-type holder is close to each other
Side be provided with buffer stopper 212；The small end of the V-type holder is rotatablely connected with the output shaft of driving motor 213；The V
Type holder includes the connecting rod being rotatablely connected with the output shaft of driving motor 213 and output of the connecting rod far from driving motor 213
The V-type rack body of axis side connection.
Further, in order to preferably realize that the present invention, the output shaft of the driving motor 213 are separate apart from V-type holder
The size of output shaft one end of driving motor 213 is less than the first support of the output shaft distance and V-type holder homonymy of driving motor 213
Expect the size of output shaft side of the platform 22 far from driving motor 213, and more than the output shaft distance and V-type branch of driving motor 213
Size of the first retainer platform 22 of frame homonymy close to the output shaft side of driving motor 213.
Further, in order to preferably realize the present invention, between the main frame 10 and installation cavity and along conveying mechanism 3
Transporting direction center line is symmetrically arranged with guide plate 102, the guide plate 102 be to the arc panel close to V-type holder side indent,
The radius of curvature of the arc panel is less than radius of curvature of the V-type holder compared with big end.
Further, in order to preferably realize that the present invention, the main frame 10 are additionally provided with the output along driving motor 213
The guide pad 214 that axis is axially arranged, the V-type holder are provided with and are slidably mounted on guiding close to the side of driving motor 213
Guided way 101 on block 214.
It should be noted that by above-mentioned improvement, two swing arms are controlled respectively by two driving motors 213,
The power of two driving motors 213, model are identical；In use, two driving motors 213 of control are so that two swing arm phase mutual connections
It touches, two swing arms are under contact condition not in the surface of conveying mechanism 3；It avoids bagged material packet from being delivered to conveying mechanism 3 to lean on
When nearly 10 side of main frame, material toggling can not be carried out to bagged material packet；When bagged material packet is delivered to conveying mechanism 3 close to main frame
When 10 side of frame, the swing arm that two driving motors 213 start control respectively and the rotation connection of its output shaft simultaneously rotates, two pendulum
The rotation direction side of arm；So that swing arm pushes bagged material packet, and shifts onto on the first retainer platform 22, complete packed to one
The material toggling of material packet acts.
In order to ensure the stability of driving motor 213, avoid not continuing to carry out in material toggling action, on the main frame 10
It is provided with the support plate of fixed driving motor 213, the output shaft of the driving motor 213 passes through support plate to connect with swing arm rotation
It connects.
Arc panel is arranged effectively to limit the motion range of bagged material packet, passes through material placing mechanism 21 and arc panel
So that the push for bagged material packet, is not in the variation of position, can rapidly enter on the first retainer platform 22.
Connecting rod is set in V-type holder and driving motor 213 so that for needing directly to enter second from conveying mechanism 3
Bagged material packet on retainer platform 24 can be directly entered on the second retainer platform 24 by the space between connecting rod and installation cavity.
The other parts of the present embodiment are same as the previously described embodiments, and so it will not be repeated.
Embodiment 5：
The present embodiment advanced optimizes on the basis of the above embodiments, and as Figure 1-Figure 8, the conveying mechanism 3 includes
3 input terminal of conveying mechanism sets gradually to output end and is transmitted by the separately-driven input transmission end 31 of two groups of motors, speed change
End 32, the input transmission end 31 include input conveyer frames 311 and conveying hinge 312, and the speed change transmission end 32 includes speed change
Conveyer frames 323, speed change convey hinge 324, and the input terminal of the output end and speed change conveyer frames 323 of the input conveyer frames 311 is cut with scissors
It connects；The photoelectric sensor 33 that is provided with of medial surface of the input conveyer frames 311, the motor and photoelectric sensor 33 with control
Circuit system connection processed, it is variable speed electric motors, particularly to drive the motor of the speed change transmission end 32；The input terminal of the input transmission end 31
It is erected on two guide rails 1 and can be moved along guide rail 1；The output end of the output transmission end is fixed with entrucking machine head assembly 2 to be connected
It connects, the elevating mechanism 4 is arranged on two guide rails 1 and can be moved along guide rail 1.
It should be noted that by above-mentioned improvement, the speed change transmission end 32 include be arranged on speed change conveyer frames 323 and
Speed change end 321 and output end 322 are respectively driven by two groups of motors；The speed change end 321 and output end correspond to a biography respectively
Defeated hinge；It is variable speed electric motors, particularly to drive the motor at the speed change end 321.The transmission that the speed change end 321 passes through change speed change end 321
The speed of hinge, changes the spacing between the bagged articles at input speed change end 321, and the bagged articles being adjusted at the uniform velocity enter output end
322, entrucking machine head assembly 2 is then transmitted to by the transmission hinge of output end 322.
The bagged articles enter conveying mechanism 3 from the input terminal of input transmission end 31, by the photoelectricity for inputting transmission end 31
Sensor 33 detects the spacing between adjacent bagged articles, is then transmitted to speed change transmission end 32 from the output end of input transmission end 31
Speed change end 321, according to input transmission end 31 photoelectric sensor 33 testing result, judge whether speed change transmission end 32 needs
The spacing between adjacent bagged articles is adjusted, adjusts the spacing of adjacent bagged articles if necessary, then the variable speed electric motors, particularly at speed change end 321 turns
Speed changes, and adjusts within the transmission speed to the normal range (NR) of setting of bagged articles, is then transmitted to output end 322 again；Such as it is not required to
Adjusting the spacing between adjacent bagged articles, then directly from speed change end 321, speed change is not transmitted to output end 322, then by output end
322 are at the uniform velocity transmitted to entrucking machine head assembly 2, carry out the loading stacking of transport vehicle.
Further, the medial surface of 322 corresponding speed change conveyer frames 323 of the speed change end 321 and output end is both provided with
The photoelectric sensor 33 being connect with control system circuit, for detect the spacing between bagged articles adjacent on speed change end 321 and
Spacing on output end 322 between adjacent bagged articles, the data that control system is detected according to each photoelectric sensor, adjustment
Speed change end 321 transmission hinge speed, and pass through output end 322 transmission hinge speed determine adjustment after pack object it
Between spacing, so that conveying mechanism 3 is at the uniform velocity transmitted bagged articles to entrucking machine head assembly 2.
The other parts of the present embodiment are same as the previously described embodiments, and so it will not be repeated.
Embodiment 6
The present embodiment is highly preferred embodiment of the present invention, and as Figure 1-Figure 8, a kind of wiper arm formula automatic loading robot is special
Sign is：It is slidably mounted on two guide rails including two guide rails disposed in parallel, entrucking machine head assembly, one end and is led along two
Rail length direction sliding conveying mechanism and for entrucking machine head assembly 2 promoted or decline elevating mechanism and with entrucking head
Assembly；The other end of the conveying mechanism is connect with installation mechanism assembly；
The entrucking machine head assembly 2 includes the material toggling structure being separately connected with conveying mechanism 3 and guide post 43, is mounted on material toggling structure
Movement hopper mechanism far from 43 side of guide post；
The material toggling structure include be provided with installation cavity and connect far from guide sleeve one end with guide post main frame 10, along conveying mechanism
The center line of 3 transporting directions is symmetrically mounted on the first retainer platform 22 in installation cavity and on main frame 10 and along conveyer
Symmetrically arranged two material placing mechanisms 21 of center line of 3 transporting direction of structure；
The conveying mechanism 3 close to the side of material placing mechanism 21 with the first retainer platform 22 close to the side of material placing mechanism 21 same
In plane；The movement hopper mechanism includes that discharging platform 23 in the first retainer platform 22 far from 21 side of material placing mechanism, peace is arranged
The guiding movement mechanism of bagged material packet, institute are received mounted in main frame 10 far from pendulum material structure side and for controlling discharging platform 23
The side for stating discharging platform 23 is slidably connected with guiding movement mechanism far from 3 side of conveying mechanism.
The guide post 43 includes for connecting more litter 431 of entrucking machine head assembly, the company being arranged between litter 431
Fishplate bar；The guide sleeve 42 is provided with the pulley blocks 421 being used cooperatively with litter 431 close to the side of litter 431.
The material placing mechanism 21 further includes the second retainer for being arranged between the first retainer platform 22 and being mounted in installation cavity
Platform 24；The first retainer platform 22 and the second retainer platform 24 close to the side of material placing mechanism 21 in the same plane；Described
Two retainer platforms 24 along center line and 3 transporting direction of conveying mechanism of 3 transporting direction of conveying mechanism center line on the same line.
The first retainer platform 22 includes symmetrically arranged two pieces of retainer plates 256, for driving retainer plate 256 to be unloaded to close
Expect the driving mechanism of 23 side of platform movement；
The driving mechanism include external baric systerm cylinder 255, with cylinder 255 export axis connection drive rod 251 and
Two shafts 254 being connect respectively with 251 both ends of drive rod, the retainer plate 256 are fixedly mounted on the side of shaft 254；
The connecting rod 253 that one end is fixedly connected with shaft 254 is provided between the drive rod 251 and shaft 254, in addition with connecting rod 253
The hinge bar 252 that one end is told somebody what one's real intentions are, the one end of the hinge bar 252 far from connecting rod 253 and the free end of drive rod 251 are hinged；Institute
Cylinder 255 is stated to be arranged in side of the retainer plate 256 far from the second retainer platform 24；
The first retainer platform 22, the second retainer platform 24,23 structure of discharging platform are identical, the driving machine of the second retainer platform 24
Structure is arranged far from side of the retainer plate 256 far from the first conveying mechanism 3；The discharging platform 23 driving mechanism setting by
Closely/side far from guiding movement mechanism.
The material placing mechanism 21 includes the driving motor 213 being mounted on main frame 10, the output shaft with driving motor 213
Connection and the swing arm to move reciprocatingly along the circumferential direction of output shaft；The swing arm is arranged in the top of the first retainer platform 22.
The support plate of fixed driving motor 213 is provided on the main frame 10, the output shaft of the driving motor 213 is worn
Support plate is crossed to be rotatablely connected with swing arm.
The swing arm includes the V-type holder of one end and the output shaft rotation connection of driving motor 213, is arranged in V-type holder
Restriction plate 211 far from 3 side of conveying mechanism；V-type holder side close to each other is provided with buffer stopper 212；The V-type
The small end of holder is rotatablely connected with the output shaft of driving motor 213；The V-type holder includes the output with driving motor 213
The connecting rod of axis rotation connection, the V-type rack body being connect with output shaft side of the connecting rod far from driving motor 213.
Size of the output shaft of the driving motor 213 apart from the output shaft one end of V-type holder far from driving motor 213 is small
In output shaft one of the first retainer platform 22 far from driving motor 213 of the output shaft distance and V-type holder homonymy of driving motor 213
The size of side, and more than the output shaft distance of driving motor 213 and the first retainer platform 22 of V-type holder homonymy close to driving motor
The size of 213 output shaft side.
It is symmetrically arranged with guide plate between the main frame 10 and installation cavity and along 3 transporting direction center line of conveying mechanism
102, the guide plate 102 is to the arc panel close to V-type holder side indent, and the radius of curvature of the arc panel is less than V-type
Radius of curvature of the holder compared with big end；
The main frame 10 is additionally provided with the guide pad 214 being axially arranged along the output shaft of driving motor 213, the V-type holder
It is provided with and is slidably mounted on the guided way 101 on guide pad 214 close to the side of driving motor 213.
The conveying mechanism 3 sets gradually to output end including 3 input terminal of conveying mechanism and is driven respectively by two groups of motors
Dynamic input transmission end 31, speed change transmission end 32, the input transmission end 31 include input conveyer frames 311 and conveying hinge 312,
The speed change transmission end 32 include speed change conveyer frames 323, speed change convey hinge 324, it is described input conveyer frames 311 output end with
The input terminal of speed change conveyer frames 323 is hinged；The photoelectric sensor 33 that the medial surface of the input conveyer frames 311 is provided with, it is described
Motor and photoelectric sensor 33 are connect with control system circuit, and it is variable speed electric motors, particularly to drive the motor of the speed change transmission end 32；
The input terminal of the input transmission end 31 is erected on two guide rails 1 and can be moved along guide rail 1；The output of the output transmission end
End is fixedly connected with entrucking machine head assembly 2, and the elevating mechanism 4 is arranged on two guide rails 1 and can be moved along guide rail 1.
The photoelectric sensor 33 that is connect with control system circuit of setting two of input 311 medial surface of conveyer frames or
It is placed equidistant with that there are three photoelectric sensors 33 that is above and being connect with control system circuit.
The medial surface of the speed change conveyer frames 323 is provided with the photoelectric sensor being connect with control system circuit.
The speed change transmission end 32 includes being arranged on speed change conveyer frames 323 and respectively driving speed change end by two groups of motors
321 and output end 322；The speed change end 321 and output end correspond to a transmission hinge respectively；Drive the speed change end 321
Motor is variable speed electric motors, particularly.The output end connect with entrucking machine head assembly 2
The medial surface of 322 corresponding speed change conveyer frames 323 of the speed change end 321 and output end is both provided with and control system circuit
The photoelectric sensor of connection.
The elevating mechanism 4 includes the guide post 43 being connect with entrucking machine head assembly 2, the guide sleeve being slidably socketed on the outside of guide post
42 and mounted on guide sleeve far from 2 side of entrucking machine head assembly and the hoisting apparatus 41 that is connect with guide post 43；
The entrucking machine head assembly 2 includes the material toggling structure being separately connected with conveying mechanism 3 and guide post 43, is mounted on material toggling structure
Movement hopper mechanism far from 43 side of guide post；
The guide post 43 includes for connecting more litter 431 of entrucking machine head assembly, the connection being arranged between litter 431
Plate；The guide sleeve 42 is provided with the pulley blocks 421 being used cooperatively with litter 431 close to the side of litter 431.
Further include the closed dust pelletizing system 5 being slidably mounted on guide rail 1, the closed dust pelletizing system 5 connects with elevating mechanism 4
It connects.
The closed dust pelletizing system 5 includes erecting bed 56 and dust hood 51 on erecting bed 56, ventilating fan 52, removes
Dirt device 53, return aircourse 54, the dust hood 51, deduster 53, ventilating fan 52 dust delivering tube road be connected to by dust discharge air duct,
The return aircourse 54 is connected to the air outlet of deduster 53；56 lower section of the erecting bed, which is equipped with, to be arranged on two guide rails 1
Multiple idler wheels；The erecting bed 56 is provided with the connecting rod being connect with elevating mechanism 4 close to the side of elevating mechanism 4.
42 side of the guide sleeve is provided with air suction opening, and the air suction opening is connected with the sweep-up pipe that distal end is connected to dust hood 51
Road 55.
It loads 2 air of the top containing a large amount of dust of host and deduster 53 is entered by dust sucting pipeline 55, improve dedusting effect
Fruit.
Host lifting device 4 is located at the vertical direction for loading host 2, is needed to bagged articles into luggage due to loading host 2
Distribution and stacking are carried, a large amount of dust is also easy to produce, therefore, the top dust content for loading host 2 is larger.Loading host 2
Dust sucting pipeline 55 is installed on the guide sleeve 42 of vertical direction, so that the dust of 2 top of loading host is entered deduster 53 and is dusted, keep away
Exempt from it and spread apart, increases dedusting difficulty.
It should be noted that by above-mentioned improvement, in the limited block that is provided at both ends with of guided way 101, limited block pair makes
Material placing mechanism 21 can only carry out the rotation of 180 degree；To ensure working efficiency, the quantity of the discharging platform 23 is two.
The main frame 10 is provided with anticollision strip close to the side of discharging platform 23, effectively avoids during the work time, main
Frame 10 and bagging equipment hard contact so that the device of the design damages.
Driving motor, cylinder in the design are the prior art, therefore its internal structure is no longer described in detail.To ensure for dress
The stability that vehicle machine head assembly is promoted, the hoisting apparatus are hoist engine.
The other parts of the present embodiment are same as the previously described embodiments, and so it will not be repeated.
The above is only presently preferred embodiments of the present invention, not does limitation in any form to the present invention, it is every according to
According to the technical spirit of the present invention to any simple modification, equivalent variations made by above example, the protection of the present invention is each fallen within
Within the scope of.
Claims (10)
1. a kind of wiper arm formula automatic loading robot, it is characterised in that：Including two guide rails disposed in parallel（1）, entrucking head
Assembly（2）, one end is slidably mounted on two guide rails and along two guide rails（1）The conveying mechanism of length direction sliding（3）And it uses
In to entrucking machine head assembly（2）The elevating mechanism for being promoted or being declined（4）And and elevating mechanism（4）It connects and is slidably mounted on guide rail
（1）On closed dust pelletizing system（5）；The conveying mechanism（3）Other end with installation mechanism assembly（2）Connection；
The entrucking machine head assembly（2）Including with conveying mechanism（3）And guide post（43）The material toggling structure that is separately connected is mounted on and dials
Expect structure far from guide post（43）The movement hopper mechanism of side：The material toggling structure includes being provided with installation cavity and separate with guide post
The main frame of guide sleeve one end connection（10）, along conveying mechanism（3）The center line of transporting direction is symmetrically mounted on first in installation cavity
Retainer platform（22）And it is mounted on main frame（10）Above and along conveying mechanism（3）Symmetrically arranged two pendulum of center line of transporting direction
Expect mechanism（21）；
The conveying mechanism（3）Close to material placing mechanism（21）Side and the first retainer platform（22）Close to material placing mechanism（21）One
Side is in the same plane；The movement hopper mechanism includes being arranged in the first retainer platform（22）Far from material placing mechanism（21）Side
Discharging platform（23）, be mounted on main frame（10）Far from pendulum material structure side and for controlling discharging platform（23）Receive bagged material packet
Guiding movement mechanism, the discharging platform（23）Side and guiding movement mechanism far from conveying mechanism（3）Side is slidably connected.
2. a kind of wiper arm formula automatic loading robot according to claim 2, it is characterised in that：The material placing mechanism（21）
Further include being arranged in the first retainer platform（22）Between and the second retainer platform in the installation cavity（24）；The first retainer platform
（22）With the second retainer platform（24）Close to material placing mechanism（21）Side in the same plane；The second retainer platform（24）Edge
Conveying mechanism（3）The center line and conveying mechanism of transporting direction（3）The center line of transporting direction is on the same line.
3. a kind of wiper arm formula automatic loading robot according to claim 3, it is characterised in that：The first retainer platform
（22）Including symmetrically arranged two pieces of retainer plates（256）, for driving retainer plate（256）To close to discharging platform（23）Side moves
Driving mechanism；
The driving mechanism includes the cylinder of external baric systerm（255）With cylinder（255）Export the drive rod of axis connection
（251）And respectively with drive rod（251）Two shafts of both ends connection（254）, the retainer plate（256）It is fixedly mounted on and turns
Axis（254）Side on；The drive rod（251）With shaft（254）Between be provided with one end and shaft（254）It is fixedly connected
Connecting rod（253）, with connecting rod（253）The hinge bar that other end is told somebody what one's real intentions are（252）, the hinge bar（252）Far from connecting rod（253）'s
One end and drive rod（251）Free end it is hinged；The cylinder（255）It is arranged in retainer plate（256）Far from the second retainer platform
（24）Side；
The first retainer platform（22）, the second retainer platform（24）, discharging platform（23）Structure is identical, the second retainer platform（24）
Driving mechanism be arranged far from retainer plate（256）Far from the first conveying mechanism（3）Side；The discharging platform（23）Driving
Mechanism is positioned close to the/side far from guiding movement mechanism.
4. a kind of wiper arm formula automatic loading robot according to claim 3, it is characterised in that：The material placing mechanism（21）
Including being mounted on main frame（10）On driving motor（213）With driving motor（213）Output axis connection and along output shaft
The swing arm circumferentially to move reciprocatingly；The swing arm is arranged in the first retainer platform（22）Top.
5. a kind of wiper arm formula automatic loading robot according to claim 4, it is characterised in that：The main frame（10）On
It is provided with fixed driving motor（213）Support plate, the driving motor（213）Output shaft pass through support plate and swing arm to rotate
Connection.
6. a kind of wiper arm formula automatic loading robot according to claim 5, it is characterised in that：The swing arm includes one end
With driving motor（213）Output shaft rotation connection V-type holder, be arranged in V-type holder far from conveying mechanism（3）The limit of side
Making sheet（211）；V-type holder side close to each other is provided with buffer stopper（212）；The small end of the V-type holder and drive
Dynamic motor（213）Output shaft rotation connection；The V-type holder includes and driving motor（213）Output shaft rotation connection
Connecting rod and connecting rod are far from driving motor（213）Output shaft side connection V-type rack body.
7. a kind of wiper arm formula automatic loading robot according to claim 6, it is characterised in that：The driving motor
（213）Output shaft apart from V-type holder far from driving motor（213）Output shaft one end size be less than driving motor（213）
Output shaft distance and V-type holder homonymy the first retainer platform（22）Far from driving motor（213）Output shaft side size,
And it is more than driving motor（213）Output shaft distance and V-type holder homonymy the first retainer platform（22）Close to driving motor（213）
Output shaft side size.
8. a kind of wiper arm formula automatic loading robot according to claim 7, it is characterised in that：In the main frame（10）
Between installation cavity and along conveying mechanism（3）Transporting direction center line is symmetrically arranged with guide plate 102（102）, the guide plate
（102）To be less than V-type holder compared with big end to the radius of curvature of the arc panel close to V-type holder side indent, the arc panel
Radius of curvature；
The main frame（10）It is additionally provided with along driving motor（213）The guide pad that is axially arranged of output shaft（214）, the V
Type holder is close to driving motor（213）Side be provided with and be slidably mounted on guide pad（214）On guided way（101）.
9. a kind of wiper arm formula automatic loading robot according to claim 8, it is characterised in that：The conveying mechanism（3）
Including conveying mechanism（3）Input terminal sets gradually to output end and by the separately-driven input transmission end of two groups of motors（31）、
The speed change transmission end being connect with entrucking machine head assembly（32）, the input transmission end（31）Including inputting conveyer frames（311）With it is defeated
Send hinge（312）, the speed change transmission end（32）Including speed change conveyer frames（323）, speed change convey hinge（324）, the input
Conveyer frames（311）Output end and speed change conveyer frames（323）Input terminal it is hinged；The input conveyer frames（311）Medial surface
Be provided with and be arranged on entrucking head control system connection photoelectric sensor（33）, the motor and photoelectric sensor
（33）It is connect with control system circuit, drives the speed change transmission end（32）Motor be variable speed electric motors, particularly；The input transmission
End（31）Input terminal be erected at two guide rails（1）It above and can be along guide rail（1）It is mobile；The output end and dress of the output transmission end
Vehicle machine head assembly（2）It is fixedly connected, the elevating mechanism（4）It is arranged in two guide rails（1）It above and can be along guide rail（1）It is mobile.
10. according to a kind of wiper arm formula automatic loading robot of claim 1-9 any one of them, it is characterised in that：It is described to lead
Column（43）Include the more litter for connecting entrucking machine head assembly（431）, be arranged in litter（431）Between connecting plate；Institute
State guide sleeve（42）Close to litter（431）Side be provided with and litter（431）The pulley blocks being used cooperatively（421）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810484602.7A CN108609410B (en) | 2018-05-20 | 2018-05-20 | Arm-pulling type automatic loading robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109573653A (en) * | 2018-10-29 | 2019-04-05 | 中国科学院合肥物质科学研究院 | A kind of bagged cement entrucking head and the Full automatic loading device using above-mentioned entrucking head |
| CN109969820A (en) * | 2019-04-09 | 2019-07-05 | 绵阳蓝奥重型机械制造有限公司 | A kind of loading stacking head of entrucking robot |
| CN111232661A (en) * | 2020-02-27 | 2020-06-05 | 枣庄市三维技术有限公司 | Multi-arm rotary loading manipulator and loading stacker thereof |
| CN111301967A (en) * | 2020-03-05 | 2020-06-19 | 浙江明度智控科技有限公司 | Intelligent cargo loading system |
| CN114162573A (en) * | 2021-11-26 | 2022-03-11 | 河南丰博机器设备有限公司 | Material loading device with unloading swing arm |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109573653A (en) * | 2018-10-29 | 2019-04-05 | 中国科学院合肥物质科学研究院 | A kind of bagged cement entrucking head and the Full automatic loading device using above-mentioned entrucking head |
| CN109969820A (en) * | 2019-04-09 | 2019-07-05 | 绵阳蓝奥重型机械制造有限公司 | A kind of loading stacking head of entrucking robot |
| CN109969820B (en) * | 2019-04-09 | 2024-03-29 | 绵阳蓝奥重型机械制造有限公司 | Loading stacker head of loading robot |
| CN111232661A (en) * | 2020-02-27 | 2020-06-05 | 枣庄市三维技术有限公司 | Multi-arm rotary loading manipulator and loading stacker thereof |
| CN111301967A (en) * | 2020-03-05 | 2020-06-19 | 浙江明度智控科技有限公司 | Intelligent cargo loading system |
| CN114162573A (en) * | 2021-11-26 | 2022-03-11 | 河南丰博机器设备有限公司 | Material loading device with unloading swing arm |
| CN114162573B (en) * | 2021-11-26 | 2023-12-29 | 河南丰博机器设备有限公司 | Material loading device with unloading swing arm |
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